/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef _SIMPLEFINGER_PLUGIN_HPP
#define _SIMPLEFINGER_PLUGIN_HPP

#include <rw/core/Plugin.hpp>

namespace rwlibs { namespace geometry { namespace simplefinger {

    /**
     * A plugin that adds a simple gripper finger shape as a custom
     * geometry type to be loaded from the workcell.
     */
    class SimpleFingerPlugin : public rw::core::Plugin
    {
      public:
        SimpleFingerPlugin ();

        ~SimpleFingerPlugin ();

        //! @copydoc rw::core::Plugin::getExtensionDescriptors
        std::vector< rw::core::Extension::Descriptor > getExtensionDescriptors ();

        //! @copydoc rw::core::Plugin::makeExtension
        rw::core::Ptr< rw::core::Extension > makeExtension (const std::string& str);
    };

}}}    // namespace rwlibs::geometry::simplefinger

#endif
